PerSeM: Persistent Semantic Memory for Long-Horizon Open-Vocabulary UAV Mapping

arXiv:2609.19542 · cs.CV, cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-09-17

Updated: 2026-09-18

Terminology

• Aggregation — 14× in this paper · explained in 1 episode
• Verification — 13× in this paper · explained in 2 episodes
• Benchmark — 11× in this paper · explained in 2 episodes
• Consistency — 6× in this paper · explained in 3 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Temporal consistency — 4× in this paper · explained in 2 episodes
• Active Perception — 3× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• CVF International Conference on Robotics and Automation — 1× in this paper
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Pixel Accuracy — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• ConceptFusion: Open-set Multimodal 3D Mapping
• Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
• FUS3DMaps: Scalable and Accurate Open-Vocabulary Semantic Mapping by 3D Fusion of Voxel- and Instance-Level Layers
• Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization
• Forest Inspection Dataset for Aerial Semantic Segmentation and Depth Estimation

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